US5467279A - Motor-assisted power steering control device - Google Patents

Motor-assisted power steering control device Download PDF

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Publication number
US5467279A
US5467279A US08/051,545 US5154593A US5467279A US 5467279 A US5467279 A US 5467279A US 5154593 A US5154593 A US 5154593A US 5467279 A US5467279 A US 5467279A
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US
United States
Prior art keywords
value
motor
steering torque
steering
error
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US08/051,545
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English (en)
Inventor
Shunichi Wada
Yasuo Naito
Kazuhisa Nishino
Masanori Takagi
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP10745292A external-priority patent/JP2910403B2/ja
Priority claimed from JP4107584A external-priority patent/JPH05301576A/ja
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Assigned to MITSUBISHI DENKI KABUSHIKI KAISHA reassignment MITSUBISHI DENKI KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: NAITO, YASUO, NISHINO, KAZUHISA, TAKAGI, MASANORI, WADA, SHUNICHI
Priority to US08/474,187 priority Critical patent/US5631833A/en
Application granted granted Critical
Publication of US5467279A publication Critical patent/US5467279A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque

Definitions

  • the present invention relates to a motor-assisted power steering control device capable of obtaining a constant steering torque having smoothness and comfortableness by producing an auxiliary steering force depending on a steering force applied to a steering wheel.
  • a control quantity for a motor has been obtained by summing a correction quantity obtained by the differentiation value of an error value between a target control torque and an actual steering torque, and a basic auxiliary steering force which is determined on the basis of a steering torque applied when the steering wheel is operated and a target control torque.
  • a motor-assisted power steering control device which comprises a detecting means for detecting a steering torque of a steering wheel, a phase lead compensating means for compensating a phase lead of the detected steering torque, means for obtaining an error between the detected steering torque which has been compensated and a target steering torque, means for obtaining at least one among a proportional value, an integration value and a differentiation value on the error, a motor for generating an auxiliary steering torque of the steering wheel, and means for controlling the motor in response to the sum of the obtained values.
  • a motor-assisted power steering control device which comprises a detecting means for detecting a steering torque of a steering wheel, means for obtaining an error between the detected steering torque and a target steering torque, means for obtaining a proportional value, an integration value and a differentiation value on the error, a motor for generating an auxiliary steering torque of the steering wheel, a first clipping means for determining the lower limit clipping value of the integration value as the lower limit value of an instruction voltage value or an instruction current value of the motor, a second clipping means for determining by clipping a control value obtained by summing a proportional value, an integration value and a differentiation value between the upper and lower limit values of the instruction voltage value or the instruction current value of the motor, and means for controlling the motor in response to the sum of the obtained values.
  • FIG. 1 is a block diagram of an embodiment of a control section of the motor-assisted power steering control device according to the present invention
  • FIG. 2 is a diagram of the motor-assisted power steering control device of the present invention.
  • FIG. 3 is a diagram showing an embodiment of a motor driving means for the present invention.
  • FIG. 4 is a block diagram of another embodiment of the control section for the motor-assisted power steering control device according to the present invention.
  • FIG. 2 shows a basic structure of the motor-assisted power steering control device of a first embodiment of the present invention.
  • reference numeral 1 designates a steering wheel
  • numeral 2 designates a steering torque detecting means which produces an output corresponding to a steering force to the steering wheel 1
  • numeral 3 designates a motor which is connected to a steering shaft 5 by means of a speed reducing mechanism 4
  • numeral 6 designates a control section for calculating a control quantity from an output from the steering torque detecting means 2 to control the motor depending on the control quantity
  • numeral 7 designates wheels.
  • FIG. 1 shows the construction of the control section 6 wherein numeral 10 designates a phase lead compensating means for compensating a phase lead of steering torque, numeral 11 designates a determining means for determining a target steering torque, numeral 12 designates a proportional means, numeral 13 designates an integration means, numeral 14 designates a differentiation means, numeral 15 designates a motor driving means, numeral 16 designates a subtracting means and numeral 17 designates an adding means.
  • numeral 10 designates a phase lead compensating means for compensating a phase lead of steering torque
  • numeral 11 designates a determining means for determining a target steering torque
  • numeral 12 designates a proportional means
  • numeral 13 designates an integration means
  • numeral 14 designates a differentiation means
  • numeral 15 designates a motor driving means
  • numeral 16 designates a subtracting means
  • numeral 17 designates an adding means.
  • K D1 is a differentiation coefficient
  • the error T h is calculated in the respective calculation means 12, 13, and 14 to obtain a proportional value P n , an integration value I n and a differentiation value D n respectively.
  • the equations to obtain such values are as follows.
  • K p , K 1 and K D2 are a proportional coefficient, an integration coefficient and a differentiation coefficient respectively and n-1 represents a calculated value obtained in the last calculation period.
  • the value I n is clipped with an appropriate value ⁇ . Then, a value of at least one among P n , I n and D n is obtained by means of the adding means 17, whereby a control value Te to the motor 3 can be obtained from the following equation:
  • T e P n +I n +D n (This is the case when P n , I n and D n are summed.)
  • the control value T e is outputted to the motor driving means 15 whereby the optional auxiliary steering force is produced in the motor 3, and the auxiliary steering force is applied to the steering shaft 5 by means of the speed reducing mechanism 4.
  • an H bridge circuit as described in Japanese Patent Application No. 246191/1988 is used.
  • the H bridge circuit is shown in FIG. 3 wherein numeral 21 through 24 designate transistors.
  • Transistors 21 and 22 change the control value T e into a duty ratio of pulse width modulation (PWM).
  • PWM pulse width modulation
  • the maximum value of T e produces an output of 100% duty.
  • T e is 0 or lower, the motor 3 is not driven.
  • a complete differentiation is used for the calculation of the phase lead compensation and calculation of differentiation.
  • the same effect can be obtained by using an incomplete differentiation (lead and lag of phase) in consideration of effect by noises.
  • the calculation performed may be a digital operation or an analogue operation.
  • a voltage value or a current value of the motor 3 may be used for the control quantity of the motor 3.
  • a feed-back minor loop may be used for controlling the current of the motor 3.
  • the response characteristic of the steering system can be improved by effecting phase lead compensation for a steering torque detected and controlling a motor depending on an error between the steering torque which has undergone the phase lead compensation and a target steering torque. Further, a proportional value, an integration value and a differentiation value of the error are used for a control value for the motor so as to correspond to the target control torque.
  • the basic structure of the motor-assisted power steering control device according to the second embodiment is the same as that of the first embodiment shown in FIG. 2.
  • FIG. 4 shows a structure of a control section of the second embodiment.
  • the same reference numerals as in FIG. 1 designate the same or corresponding parts, and accordingly, description of these parts is omitted.
  • the control section is further provided with first and second clipping means 18, 19.
  • the phase lead compensating means 10 is to compensate a phase lag caused by the inertia of and friction in the motor 3 and the associated speed reducing mechanism 4.
  • T s a steering torque after compensation
  • T r a target torque
  • the thus obtained error T h is calculated in respective calculating means 12, 13 and 14 to obtain a proportional value P n , an integration value I n and a differentiation value D n in accordance with the following equations:
  • K p , K 1 and K D are respectively a proportional coefficient, an integration coefficient and a differentiation coefficient, and n-1 expresses a calculated value obtained in the last calculation period.
  • the integration value is clipped within upper and lower limit values by means of the first clipping means 18.
  • the lower limit value is rendered to be the lower limit value for the control value to the motor 3, i.e., the lower limit value for a duty instruction value for PWM control, the lower limit value being, for instance, zero.
  • the upper limit value is determined to be, for instance, 250.
  • T e P n +I n +D n (this is the case when all P n , I n and D n are summed).
  • the control value T e is also clipped within upper and lower limit values by means of the second clipping means 19.
  • the upper limit value is a maximum value of 250 in PWM of the motor instruction value
  • the lower limit value is a minimum value of zero.
  • the control value T e is outputted to the motor driving means 15, whereby the optimum auxiliary steering force is produced in the motor 3.
  • the integration value I n is forced to assume the value zero of a negative value in a region of a steering torque signal T s being lower than a target steering torque T r ; hence, the control value assumes zero. Therefore, the motor 3 is not assisted at all. The motor 3 is assisted as soon as T s exceeds T r . Accordingly, it is possible to avoid a lag in control at the time of starting assistance in a case that the steering wheel 1 is operated from a state of small torque. Further, with the integral means 13, a steady variation to the target steering torque T r can be eliminated, and the target steering torque characteristic can be obtained without a lag.
  • a digital operation is conducted.
  • an analogue operation may be used.
  • voltage (PWM instruction value) applied thereto is used for the control quantity to the motor.
  • PWM instruction value voltage

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
US08/051,545 1992-04-27 1993-04-26 Motor-assisted power steering control device Expired - Lifetime US5467279A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US08/474,187 US5631833A (en) 1992-04-27 1995-06-07 Motor-assisted power steering control device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP10745292A JP2910403B2 (ja) 1992-04-27 1992-04-27 電動パワーステアリング制御装置
JP4-107584 1992-04-27
JP4107584A JPH05301576A (ja) 1992-04-27 1992-04-27 電動パワーステアリング制御装置
JP4-107452 1992-04-27

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US08/474,187 Division US5631833A (en) 1992-04-27 1995-06-07 Motor-assisted power steering control device

Publications (1)

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US5467279A true US5467279A (en) 1995-11-14

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US08/051,545 Expired - Lifetime US5467279A (en) 1992-04-27 1993-04-26 Motor-assisted power steering control device
US08/474,187 Expired - Lifetime US5631833A (en) 1992-04-27 1995-06-07 Motor-assisted power steering control device

Family Applications After (1)

Application Number Title Priority Date Filing Date
US08/474,187 Expired - Lifetime US5631833A (en) 1992-04-27 1995-06-07 Motor-assisted power steering control device

Country Status (4)

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US (2) US5467279A (ko)
EP (1) EP0567991B1 (ko)
KR (1) KR970005786B1 (ko)
DE (1) DE69304978T2 (ko)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5659473A (en) * 1994-06-28 1997-08-19 Honda Giken Kogyo Kabushiki Kaisha Electric power steering system
US5979587A (en) * 1997-06-06 1999-11-09 Ford Global Technologies, Inc. Electrically assisted power steering apparatus
US6335604B1 (en) 1999-05-18 2002-01-01 Denso Corporation DC motor drive unit and motor-driven power steering control apparatus
US20040007419A1 (en) * 2002-05-27 2004-01-15 Koyo Seiko Co., Ltd. Electric power steering apparatus
US6691818B2 (en) * 2000-09-11 2004-02-17 Nsk Ltd. Control unit for electric power steering apparatus
US6876910B2 (en) * 1998-09-30 2005-04-05 Mitsubishi Denki Kabushiki Kaisha Electric power steering system
US20060180369A1 (en) * 2005-01-19 2006-08-17 Volkswagen Ag Method and device for reducing unwanted excitations at a steering wheel
US20080228354A1 (en) * 2007-03-12 2008-09-18 Mitsubishi Electric Corporation Electric power steering control apparatus
CN109476338A (zh) * 2016-09-20 2019-03-15 日立汽车系统株式会社 动力转向装置
CN113364391A (zh) * 2020-02-20 2021-09-07 台达电子工业股份有限公司 电机控制系统及其震动抑制方法

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0966851A (ja) * 1995-08-31 1997-03-11 Mitsubishi Electric Corp 車両用制御装置
US5801504A (en) * 1995-09-25 1998-09-01 Nsk Ltd. Control apparatus for electric power steering system
JP3104865B2 (ja) * 1997-08-25 2000-10-30 本田技研工業株式会社 電動パワーステアリング装置
JP4568996B2 (ja) * 2000-12-05 2010-10-27 株式会社ジェイテクト 操舵装置と操舵装置の抗力算出装置
WO2007119333A1 (ja) * 2006-04-13 2007-10-25 Mitsubishi Electric Corporation 電動パワーステアリング制御装置
EP1870612B2 (de) * 2006-06-23 2012-08-08 Muhr und Bender KG Randschichtverbessern von Tellerfedern oder Wellfedern
DE102006057084B4 (de) * 2006-12-04 2016-11-10 Robert Bosch Automotive Steering Gmbh Verfahren zum Betreiben einer Hilfskraftlenkung
JP4468415B2 (ja) 2007-06-29 2010-05-26 三菱電機株式会社 電動パワーステアリング制御装置
US7962263B2 (en) * 2008-04-03 2011-06-14 Cnh America Llc Adaptive nonlinear steering control system and method for work vehicles
FR3022515B1 (fr) * 2014-06-24 2016-07-29 Jtekt Europe Sas Assistance de direction mixte comprenant une boucle d'asservissement en couple pilotee en consigne par un controleur de position destine a l'asservissement en trajectoire
CN111746294B (zh) * 2019-03-28 2022-07-12 台达电子工业股份有限公司 电动机车的加速补偿系统及加速补偿方法
KR20210031075A (ko) * 2019-09-11 2021-03-19 주식회사 만도 조향 제어 장치 및 그 방법, 그리고 조향 시스템

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DE3425389A1 (de) * 1983-08-08 1985-02-28 Aisin Seiki Elektrische servolenkeinrichtung
US4754828A (en) * 1986-04-29 1988-07-05 Mitsubishi Denki Kabushiki Kaisha Motor-driven power steering system for a vehicle
US4800975A (en) * 1984-10-19 1989-01-31 Fuji Jukogyo Kabushiki Kaisha Motor control unit for electrically operated power steering devices
US4809173A (en) * 1986-05-31 1989-02-28 Aisin Seiki Kabushikikaisha Electrically driven power steering apparatus
EP0350819A2 (en) * 1988-07-11 1990-01-17 Koyo Seiko Co., Ltd. Steering angle middle point detecting apparatus
EP0398238A1 (en) * 1989-05-17 1990-11-22 Koyo Seiko Co., Ltd. Motor-driven power steering apparatus
US4979114A (en) * 1988-04-21 1990-12-18 Fuji Jukogyo Kabushiki Kaisha Motor control apparatus for electric power steering system
US4989682A (en) * 1988-04-06 1991-02-05 Fuji Jukogyo Kabushiki Kaisha Control device of electric power steering system for motor vehicle
US5151860A (en) * 1987-12-29 1992-09-29 Jidoshi Kiki Co., Ltd. Control method for electric power steering apparatus for vehicle
EP0522466A1 (en) * 1991-07-09 1993-01-13 Koyo Seiko Co., Ltd. Controlling apparatus for power steering
US5201818A (en) * 1990-05-09 1993-04-13 Koyo Seiko Co., Ltd. Power steering apparatus
US5253725A (en) * 1990-05-09 1993-10-19 Koyo Seiko Co., Ltd. Power steering apparatus
US5267629A (en) * 1991-06-14 1993-12-07 Nissan Motor Co., Ltd. Auxiliary steering system for a vehicle

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3425389A1 (de) * 1983-08-08 1985-02-28 Aisin Seiki Elektrische servolenkeinrichtung
US4800975A (en) * 1984-10-19 1989-01-31 Fuji Jukogyo Kabushiki Kaisha Motor control unit for electrically operated power steering devices
US4754828A (en) * 1986-04-29 1988-07-05 Mitsubishi Denki Kabushiki Kaisha Motor-driven power steering system for a vehicle
US4809173A (en) * 1986-05-31 1989-02-28 Aisin Seiki Kabushikikaisha Electrically driven power steering apparatus
US5151860A (en) * 1987-12-29 1992-09-29 Jidoshi Kiki Co., Ltd. Control method for electric power steering apparatus for vehicle
US4989682A (en) * 1988-04-06 1991-02-05 Fuji Jukogyo Kabushiki Kaisha Control device of electric power steering system for motor vehicle
US4979114A (en) * 1988-04-21 1990-12-18 Fuji Jukogyo Kabushiki Kaisha Motor control apparatus for electric power steering system
EP0350819A2 (en) * 1988-07-11 1990-01-17 Koyo Seiko Co., Ltd. Steering angle middle point detecting apparatus
US4961474A (en) * 1988-07-11 1990-10-09 Koyo Seiko Co., Ltd. Steering angle middle point detecting apparatus
EP0398238A1 (en) * 1989-05-17 1990-11-22 Koyo Seiko Co., Ltd. Motor-driven power steering apparatus
US5040629A (en) * 1989-05-17 1991-08-20 Koyo Seiko Co., Ltd. Motor-driven power steering apparatus
US5201818A (en) * 1990-05-09 1993-04-13 Koyo Seiko Co., Ltd. Power steering apparatus
US5253725A (en) * 1990-05-09 1993-10-19 Koyo Seiko Co., Ltd. Power steering apparatus
US5267629A (en) * 1991-06-14 1993-12-07 Nissan Motor Co., Ltd. Auxiliary steering system for a vehicle
EP0522466A1 (en) * 1991-07-09 1993-01-13 Koyo Seiko Co., Ltd. Controlling apparatus for power steering

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5659473A (en) * 1994-06-28 1997-08-19 Honda Giken Kogyo Kabushiki Kaisha Electric power steering system
US5979587A (en) * 1997-06-06 1999-11-09 Ford Global Technologies, Inc. Electrically assisted power steering apparatus
US6876910B2 (en) * 1998-09-30 2005-04-05 Mitsubishi Denki Kabushiki Kaisha Electric power steering system
US6335604B1 (en) 1999-05-18 2002-01-01 Denso Corporation DC motor drive unit and motor-driven power steering control apparatus
US6691818B2 (en) * 2000-09-11 2004-02-17 Nsk Ltd. Control unit for electric power steering apparatus
US6973991B2 (en) * 2002-05-27 2005-12-13 Koyo Seiko Co., Ltd. Electric power steering apparatus
US20040007419A1 (en) * 2002-05-27 2004-01-15 Koyo Seiko Co., Ltd. Electric power steering apparatus
US20060180369A1 (en) * 2005-01-19 2006-08-17 Volkswagen Ag Method and device for reducing unwanted excitations at a steering wheel
US8090502B2 (en) * 2005-01-19 2012-01-03 Volkswagen Ag Method and device for reducing unwanted excitations at a steering wheel
US20080228354A1 (en) * 2007-03-12 2008-09-18 Mitsubishi Electric Corporation Electric power steering control apparatus
US8423245B2 (en) * 2007-03-12 2013-04-16 Mitsubishi Electric Corporation Electric power steering control apparatus
CN109476338A (zh) * 2016-09-20 2019-03-15 日立汽车系统株式会社 动力转向装置
CN109476338B (zh) * 2016-09-20 2022-03-15 克诺尔转向系统日本有限公司 动力转向装置
CN113364391A (zh) * 2020-02-20 2021-09-07 台达电子工业股份有限公司 电机控制系统及其震动抑制方法
CN113364391B (zh) * 2020-02-20 2023-09-05 台达电子工业股份有限公司 电机控制系统及其震动抑制方法

Also Published As

Publication number Publication date
DE69304978D1 (de) 1996-10-31
KR970005786B1 (ko) 1997-04-21
EP0567991A3 (en) 1994-12-07
EP0567991B1 (en) 1996-09-25
DE69304978T2 (de) 1997-03-06
EP0567991A2 (en) 1993-11-03
KR930021480A (ko) 1993-11-22
US5631833A (en) 1997-05-20

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